L'actualité du GDR

CISM Advanced Course: Singular Configurations of Mechanisms and Manipulators, Udine, Italy

Du 22/09/2014 au 26/09/2014


Location: CISM - International Centre for Mechanical Sciences, Udine, Italy - www.cism.it

Dates: September 22 to 26, 2014



Course Overview:

In singular configurations, the kinetostatic properties of mechanisms undergo sudden and dramatic changes. Hence the enormous practical value of singularity analysis for manipulator design and use. Its theoretical importance stems from the critical role singularity plays in algebraic geometry and in the theory of differentiable mappings. Attendees will be introduced to milestone results, key methods, and main problems in singularity analysis. The lectures provide an overview of cutting-edge work and focus on a few advanced topics.

Course Content:

    Definition, rigorous definition of singularities
    Classification, fundamental taxonomy, types of degeneracy of the forward and inverse velocity problems, constraint singularities of parallel manipulators, cusp-like and fold-like singularities
    Identification, calculation of the singularity set, numerical partitioning of the ambient parameter space
    Avoidance of singularities, escapements, workspace
    Singularity-set and configuration-space topology
    Mathematical tools and formalisms to analyze singularities in mechanisms, screw-geometrical techniques and Lie-group-based local-analysis methods


    Manfred Husty (University Innsbruck, Innsbruck, Austria)
    Jean Pierre Merlet (INRIA, Sophia Antipolis Cedex, France)
    Andreas Mueller ( Shanghai Jiao Tong University, China)
    Philippe Wenger (Institut de Recherche en Comm. et Cybernétique de Nantes, Nantes Cedex 3, France)
    Dimiter Zlatanov (Università di Genova, Genova, Italy)

We would be grateful if you could forward this announcement to your colleagues.

Best regards,

Dimiter Zlatanov, Andreas Müller
- Course Coordinators -
Publié le 13/06/2014